launchNetContactForces

Fully qualified name: isaacsim::physics::newton::tensors::launchNetContactForces

bool isaacsim::physics::newton::tensors::launchNetContactForces(

const int *contactCount,

const int *shape0,

const int *shape1,

const float *contactForce,

const int *shapeBody,

const int *bodySensorMap,

int bodySensorMapSize,

int worldBodyIdx,

float dtScale,

float *netForces,

int rigidContactMax,

void *stream = nullptr,

)

Accumulate per-sensor net contact forces.

Sums contact forces whose shape bodies are mapped to a sensor by bodySensorMap (-1 = ignore). Output is scaled by dtScale.

Parameters:

• contactCount – Device pointer to the physics contact count (single int).

• shape0 – Device array, contact pair shape A indices.

• shape1 – Device array, contact pair shape B indices.

• contactForce – Device array, shape [rigidContactMax, 3].

• shapeBody – Device array mapping shape index to body index.

• bodySensorMap – Device array mapping body index to sensor index.

• bodySensorMapSize – Length of bodySensorMap.

• worldBodyIdx – Sentinel body index representing the static world; pairs touching this body are still counted as sensor contacts.

• dtScale – Multiplicative scale applied to each force.

• netForces – Device output, shape [numSensors, 3].

• rigidContactMax – Capacity of the contact arrays.

• stream – CUDA stream.

Returns:

true if the launch succeeded.